Update active control example with new actuator class

Author: zuorenchen

…s/halcyon_flight_sim_roll_throttle.ipynb …/halcyon_flight_sim_active_control.ipynbdocs/examples/halcyon_flight_sim_roll_throttle.ipynb renamed to docs/examples/halcyon_flight_sim_active_control.ipynb docs/examples/halcyon_flight_sim_roll_throttle.ipynb renamed to docs/examples/halcyon_flight_sim_active_control.ipynb

@@ -44,14 +44,11 @@
     "    Accelerometer,\n",
     "    Environment,\n",
     "    Flight,\n",
-    "    Function,\n",
-    "    GnssReceiver,\n",
     "    Gyroscope,\n",
     "    Rocket,\n",
     ")\n",
     "from rocketpy.motors import CylindricalTank, Fluid, HybridMotor\n",
     "from rocketpy.motors.tank import MassFlowRateBasedTank\n",
-    "from rocketpy.tools import quaternions_to_spin\n",
     "\n",
     "plt.style.use(\"seaborn-v0_8-colorblind\")"
    ]
@@ -284,30 +281,36 @@
    "outputs": [],
    "source": [
     "def tvc_controller_function(\n",
-    "    time, sampling_rate, state, state_history, observed_variables, tvc, sensors\n",
+    "    time,\n",
+    "    sampling_rate,\n",
+    "    state,\n",
+    "    state_history,\n",
+    "    observed_variables,\n",
+    "    thrust_vector_control,\n",
+    "    sensors,\n",
     "):\n",
     "    # state = [x, y, z, vx, vy, vz, e0, e1, e2, e3, wx, wy, wz]\n",
     "\n",
     "    # print(time)\n",
     "\n",
-    "    tvc.gimbal_angle_x = 0\n",
-    "    tvc.gimbal_angle_y = 0\n",
+    "    thrust_vector_control.gimbal_angle_x = 0\n",
+    "    thrust_vector_control.gimbal_angle_y = 0\n",
     "    # Return variables of interest to be saved in the observed_variables list\n",
     "    return (\n",
     "        time,\n",
-    "        tvc.gimbal_angle_x,\n",
-    "        tvc.gimbal_angle_y,\n",
+    "        thrust_vector_control.gimbal_angle_x,\n",
+    "        thrust_vector_control.gimbal_angle_y,\n",
     "    )\n",
     "\n",
     "\n",
-    "tvc, tvc_controller = HALCYON.add_tvc(\n",
-    "    gimbal_range=10,\n",
+    "thrust_vector_control, tvc_controller = HALCYON.add_thrust_vector_control(\n",
+    "    controller_function=tvc_controller_function,\n",
     "    sampling_rate=100,\n",
+    "    max_gimbal_angle=10,\n",
     "    gimbal_rate_limit=100,\n",
-    "    controller_function=tvc_controller_function,\n",
     "    return_controller=True,\n",
     ")\n",
-    "tvc.info()\n",
+    "thrust_vector_control.x.info()\n",
     "tvc_controller.info()"
    ]
   },
@@ -380,10 +383,10 @@
     "\n",
     "\n",
     "roll_control, roll_controller = HALCYON.add_roll_control(\n",
-    "    max_roll_torque=10,\n",
-    "    sampling_rate=100,\n",
-    "    torque_rate_limit=100,\n",
     "    controller_function=roll_controller_function,\n",
+    "    sampling_rate=100,\n",
+    "    max_roll_torque=10,\n",
+    "    torque_rate_limit=1000,\n",
     "    return_controller=True,\n",
     ")\n",
     "roll_control.info()\n",
@@ -417,28 +420,17 @@
     "        time,\n",
     "        throttle_command,\n",
     "        throttle_actual,\n",
-    "    )"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
+    "    )\n",
+    "\n",
+    "\n",
     "throttle_obj, throttle_controller = HALCYON.add_throttle_control(\n",
     "    controller_function=throttle_controller_function,\n",
     "    sampling_rate=100,\n",
     "    throttle_range=(0.0, 1.0),\n",
     "    throttle_rate_limit=100,\n",
-    "    actuator_tau=0.2,\n",
-    "    throttle=1.0,\n",
+    "    throttle_time_constant=0.5,\n",
     "    return_controller=True,\n",
-    "    clamp=True,\n",
-    ")\n",
-    "print(\"has add_throttle_control:\", hasattr(HALCYON, \"add_throttle_control\"))\n",
-    "print(\"has throttle_control:\", hasattr(HALCYON, \"throttle_control\"))\n",
-    "print(\"throttle_control:\", getattr(HALCYON, \"throttle_control\", None))"
+    ")"
    ]
   },
   {
@@ -497,15 +489,6 @@
     "time1, ax, ay, az = zip(*accelerometer_clean.measured_data)\n",
     "time2, gx, gy, gz = zip(*gyro_clean.measured_data)\n",
     "\n",
-    "# plt.plot(time1, ax, label=\"Accelerometer X\")\n",
-    "# plt.plot(time1, ay, label=\"Accelerometer Y\")\n",
-    "# plt.plot(time1, az, label=\"Accelerometer Z\")\n",
-    "# plt.xlabel(\"Time (s)\")\n",
-    "# plt.ylabel(\"Acceleration (m/s^2)\")\n",
-    "# plt.legend()\n",
-    "# plt.grid()\n",
-    "# plt.show()\n",
-    "\n",
     "plt.plot(time2, gx, label=\"Gyroscope X\")\n",
     "plt.plot(time2, gy, label=\"Gyroscope Y\")\n",
     "plt.plot(time2, gz, label=\"Gyroscope Z\")\n",
@@ -538,7 +521,7 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": ".venv (3.12.10)",
+   "display_name": ".venv (3.14.3)",
    "language": "python",
    "name": "python3"
   },
@@ -552,7 +535,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.12.10"
+   "version": "3.14.3"
   }
  },
  "nbformat": 4,